CN115737116B - Driving mechanism of flexible prostate surgical instrument - Google Patents
Driving mechanism of flexible prostate surgical instrument Download PDFInfo
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- CN115737116B CN115737116B CN202211497033.2A CN202211497033A CN115737116B CN 115737116 B CN115737116 B CN 115737116B CN 202211497033 A CN202211497033 A CN 202211497033A CN 115737116 B CN115737116 B CN 115737116B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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Abstract
The invention discloses a driving mechanism of a flexible prostate surgical instrument, which relates to the technical field of medical robots and solves the problems that the driving mechanism is provided with a complex driving and transmission mechanism, so that the volume is overlarge, the mass is overlarge, the operation error is increased due to the overlarge mechanical transmission parts, and the surgical effect is influenced, the surgical instrument is connected with a control system through the driving mechanism, and the driving mechanism comprises: the optical fiber bending, rotating, moving back and forth and other actions can be driven by the switching component and the driving component, the rapid path connecting interface is used between the driving mechanism and the surgical instrument, and meanwhile, the sterile isolation is carried out on the surgical instrument and the driving device by the aid of the bacteria isolating cover, so that the optical fiber bending, rotating, moving back and forth and other actions are realized by the aid of the switching component and the driving component, and the optical fiber bending, rotating, moving back and forth and other actions are achieved through the aid of the switching component and the driving component.
Description
Technical Field
The invention relates to the technical field of medical robots, in particular to a driving mechanism of a flexible prostate surgical instrument.
Background
The existing prostate surgical instrument adopts a structure that an optical fiber, an endoscope and laser are cut into a whole, and the optical fiber is adjusted to realize bending, rotation and back-and-forth movement of the instrument, so that laser can irradiate all affected parts, finer and safer surgical operation can be performed in a narrow space, and the surgical efficiency and the life quality of patients are improved;
the surgical instrument for prostate surgery mostly selects flexible wires to pull optical fibers, so that the optical fibers perform unilateral bending and rotating actions, and accurate treatment is guaranteed on affected parts by laser, but because the requirement on the precision of the prostate surgery is higher, the structural requirement on a driving mechanism is higher, the bending, rotating and back-and-forth movement of the optical fibers are respectively realized by a bending mechanism, a rotating mechanism and a displacement mechanism by the existing driving mechanism, so that the accurate treatment is carried out on the affected parts by the surgical instrument for prostate surgery, and the problems that the volume is overlarge, the quality is overlarge, the operation error is increased and the surgical effect is influenced due to the fact that the driving mechanism main body integrating the bending mechanism, the rotating mechanism and the displacement mechanism has excessive mechanical transmission parts are solved.
Disclosure of Invention
Aiming at the problems that the generated driving mechanism is provided with a complex driving and transmission mechanism, so that the volume is overlarge, the mass is overlarge, and the operation error is increased due to overlarge mechanical transmission parts, and the operation effect is influenced, the invention aims to provide the driving mechanism of the flexible prostate operation instrument.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
a drive mechanism for a flexible prostate surgical instrument, the surgical instrument and a control system being connected by the drive mechanism, the control system controlling operation of the surgical instrument by the drive mechanism, wherein the drive mechanism comprises: the surgical instrument comprises an adapter assembly 1 and a driving assembly 2, wherein the driving assembly 2 is connected with the adapter assembly 1, the driving assembly 2 is used for being connected with a surgical instrument, and the adapter assembly 1 is used for being connected with a control system;
the drive assembly 2 comprises: the novel electric power generation device comprises a shell 201, a push rod hinge 203, a main body connecting piece 204, a slide block connecting plate 205, a motor connecting shaft 206, a sliding sleeve 207, a push rod connecting shaft 208, an electric push rod 209, a motor 210 and a miniature linear guide 211, wherein the miniature linear guide 211 is slidably installed in the shell 201, the slide block connecting plate 205 is installed on a slide block of the miniature linear guide 211, the slide block connecting plate 205 slides in the shell 201 through the miniature linear guide 211, the main body connecting piece 204 is installed on the slide block connecting plate 205, one end of the electric push rod 209 is connected with the main body connecting piece 204, the push rod hinge 203 is installed on the shell 201, the other end of the electric push rod 209 is connected with the push rod hinge 203 through the push rod connecting shaft 208, two motors 210 are installed on the main body connecting piece 204, each motor connecting shaft 206 is connected with one motor 210, and each sliding sleeve 207 is sleeved on each motor connecting shaft 206.
The driving mechanism of the flexible prostate surgical instrument, wherein the adapter assembly 1 comprises: the device comprises a bacteria isolation cover 101, an interface upper plate 102 and an interface lower plate 103, wherein the interface lower plate 103 is arranged on the inner side surface of the bacteria isolation cover 101, and the interface upper plate 102 is arranged on the outer side surface of the bacteria isolation cover 101.
The driving mechanism of the flexible prostate surgical instrument, wherein the adapter assembly 1 further comprises: the interface board transition wheels 104 are arranged in the interface lower plate 103, two interface board transition wheels 104 are arranged in the interface lower plate 103, one end of each interface board transition wheel 104 is connected with one sliding sleeve 207, and the other end of each interface board transition wheel 104 penetrates into the interface upper plate 102.
The driving mechanism of the flexible prostate surgical instrument, wherein the adapter assembly 1 further comprises: the interface upper plate 102 is provided with two key buckles 105, each key buckle 105 and one interface plate key 106 are connected through one interface plate key buckle pin 107.
The driving mechanism of the flexible prostate surgical instrument, wherein the adapter assembly 1 further comprises: and a first spring 110 is installed between each key buckle 105 and the interface upper plate 102, and the key buckle 105 is reset through the first spring 110.
The driving mechanism of the flexible prostate surgical instrument, wherein the adapter assembly 1 further comprises: an interface board key cover 109, and one side of each key buckle 105 close to the bacteria isolation cover 101 is provided with the interface board key cover 109.
The driving mechanism of the flexible prostate surgical instrument, wherein the bacteria-isolating cover 101 and the housing 201 are connected by two key buckles 105.
The driving mechanism of the flexible prostate surgical instrument, wherein the driving assembly 2 further comprises: lei Mo connector 212, lei Mo connector 212 is installed on the casing 201, lei Mo connector 212 is used for being connected with a control system, and the electric push rod 209 and the two motors 210 are connected with Lei Mo connector 212 through lines.
The driving mechanism of the flexible prostate surgical instrument, wherein the driving assembly 2 further comprises: a cover plate 202, the cover plate 202 being mounted on the housing 201.
The driving mechanism of the flexible prostate surgical instrument, wherein the driving assembly 2 further comprises: and a second spring 213 is arranged between each motor connecting shaft 206 and one sliding sleeve 207, and the second spring 213 is used for pushing the sliding sleeve 207 to slide on the motor connecting shaft 206.
The invention adopts the technology, so that compared with the prior art, the invention has the positive effects that:
(1) The invention can drive the optical fiber to realize the actions of bending, rotating, moving back and forth and the like, a quick-way connecting interface is used between the driving mechanism and the surgical instrument, and meanwhile, the device is provided with a bacteria-isolating cover to carry out aseptic isolation on the surgical instrument and the driving device;
(2) The driving mechanism of the flexible prostate surgical instrument has simple structure, realizes actions such as bending, rotation, forward and backward movement and the like by mutually matching the switching component and the driving component and drives the optical fiber, and has compact structure, light weight and stable motion transmission.
Drawings
Fig. 1 is a schematic view of the drive mechanism of a flexible prostate surgical instrument of the present invention.
Fig. 2 is an exploded view of a drive assembly of a drive mechanism of a flexible prostate surgical instrument of the present invention.
Fig. 3 is a schematic, disassembled view of the adapter assembly of the drive mechanism of the flexible prostate surgical instrument of the present invention.
Fig. 4 is an elevation view of a drive mechanism of a flexible prostate surgical instrument of the present invention.
Fig. 5 is a left side view of a drive mechanism of a flexible prostate surgical instrument of the present invention.
Fig. 6 is a right side view of a drive mechanism of a flexible prostate surgical instrument of the present invention.
Fig. 7 is a bottom view of the drive mechanism sterile cover and cover plate of a flexible prostate surgical instrument of the present invention.
Fig. 8 is a top view of a drive mechanism for a flexible prostate surgical instrument of the present invention.
Fig. 9 is a winding structure diagram of a conventional surgical instrument.
Fig. 10 is an overall construction view of a conventional surgical instrument.
In the accompanying drawings: 1. a switching component; 2. a drive assembly; 101. a bacteria-isolating cover; 102. an interface upper plate; 103. an interface lower plate; 104. interface board transition wheel; 105. a key buckle; 106. an interface board key; 107. the interface board key is buckled with the pin shaft; 109. an interface board key cover plate; 110. a first spring; 201. a housing; 202. a cover plate; 203. a push rod hinge; 204. a main body connector; 205. a slide block connecting plate; 206. a motor connecting shaft; 207. a sliding sleeve; 208. the push rod is connected with the shaft; 209. an electric push rod; 210. a motor; 211. a miniature linear guide rail; 212. lei Mo connector; 213. and a second spring.
Detailed Description
The invention is further described below with reference to the drawings and specific examples, which are not intended to be limiting.
Referring to fig. 1 to 8, there is shown a driving mechanism of a flexible prostate surgical instrument, through which the surgical instrument and a control system are connected, through which the control system controls the operation of the surgical instrument, wherein the driving mechanism comprises: the switching component 1 and the driving component 2, the driving component 2 is connected with the switching component 1, the driving component 2 is used for being connected with a surgical instrument, and the switching component 1 is used for being connected with a control system;
the drive assembly 2 includes: the electric push rod comprises a shell 201, a push rod hinge 203, a main body connecting piece 204, a sliding block connecting plate 205, a motor connecting shaft 206, a sliding sleeve 207, a push rod connecting shaft 208, an electric push rod 209, a motor 210 and a miniature linear guide 211, wherein the miniature linear guide 211 is slidably installed in the shell 201, the sliding block connecting plate 205 is installed on a sliding block of the miniature linear guide 211, the sliding block connecting plate 205 slides in the shell 201 through the miniature linear guide 211, the main body connecting piece 204 is installed on the sliding block connecting plate 205, one end of the electric push rod 209 is connected with the main body connecting piece 204, the push rod hinge 203 is installed on the shell 201, the other end of the electric push rod 209 is connected with the push rod hinge 203 through the push rod connecting shaft 208, two motors 210 are installed on the main body connecting piece 204, each motor connecting shaft 206 is connected with one motor 210, and one sliding sleeve 207 is sleeved on each motor connecting shaft 206.
Further, in a preferred embodiment, the adapter assembly 1 comprises: the bacteria-isolating cover 101, the interface upper plate 102 and the interface lower plate 103, the interface lower plate 103 is arranged on the inner side surface of the bacteria-isolating cover 101, and the interface upper plate 102 is arranged on the outer side surface of the bacteria-isolating cover 101.
Further, in a preferred embodiment, the adapter assembly 1 further comprises: the interface board transition wheels 104 are arranged in the interface lower plate 103, two interface board transition wheels 104 are arranged in the interface lower plate 103, one end of each interface board transition wheel 104 is connected with a sliding sleeve 207, and the other end of each interface board transition wheel 104 penetrates into the interface upper plate 102.
Further, in a preferred embodiment, the adapter assembly 1 further comprises: the interface upper plate 102 is provided with two key buckles 105, and each key buckle 105 and one interface plate key 106 are connected through one interface plate key buckle pin 107.
Further, in a preferred embodiment, the adapter assembly 1 further comprises: a first spring 110 is installed between each key buckle 105 and the interface upper plate 102, and the key buckle 105 is reset through the first spring 110.
Further, in a preferred embodiment, the adapter assembly 1 further comprises: an interface board key cover 109 is mounted on a side of each key buckle 105 near the bacteria-isolating cover 101, and the interface board key cover 109 is mounted on the side of each key buckle.
Further, in a preferred embodiment, the bacteria shield 101 and the housing 201 are connected by two key snaps 105.
Further, in a preferred embodiment, the drive assembly 2 further comprises: lei Mo connectors 212, lei Mo connectors 212 are mounted on the housing 201, lei Mo connectors 212 are used to connect with the control system, and both the electric push rod 209 and the two motors 210 are connected with Lei Mo connectors 212 by wires.
Further, in a preferred embodiment, the drive assembly 2 further comprises: cover plate 202, cover plate 202 is mounted on housing 201.
Further, in a preferred embodiment, the drive assembly 2 further comprises: a second spring 213 is provided between each motor connecting shaft 206 and one sliding sleeve 207, and the second spring 213 is used for pushing the sliding sleeve 207 to slide on the motor connecting shaft 206.
The foregoing is merely a preferred embodiment of the present invention, and is not intended to limit the embodiments and the protection scope of the present invention.
The present invention has the following embodiments based on the above description:
in a further embodiment of the present invention, a drive mechanism for a flexible prostate surgical instrument includes:
the switching assembly 1 comprises a bacteria isolation cover 101, an interface upper plate 102, an interface lower plate 103, two interface plate transition wheels 104, two key buckles 105, two interface plate keys 106, two interface plate key buckle pin shafts 107, two interface plate key cover plates 109 and two first springs 110;
the driving assembly 2 comprises a shell 201, a cover plate 202, a push rod hinge 203, a main body connecting piece 204, a slide block connecting plate 205, two motor connecting shafts 206, two sliding sleeves 207, a push rod connecting shaft 208, an electric push rod 209, two motors 210, miniature linear guide rails 211 and Lei Mo connectors 212 and two second springs 213;
in a further embodiment of the present invention, in the adapter assembly 1, two interface board keys 106, two interface board key cover plates 109 and two first springs 110 are installed in the interface upper board 102, two key buckles 105 are respectively riveted on the two interface board keys 106 by two interface board key buckle pins 107, and two interface board transition wheels 104 and a bacteria isolation cover 101 are installed between the interface upper board 102 and the interface lower board 103 and fixed by screws.
In a further embodiment of the present invention, in the driving assembly 2, the micro linear guide rail 211 is mounted on the housing 201 by a screw, the slide connecting plate 205 is mounted on the slide of the micro linear guide rail 211 by a screw, the main body connecting piece 204 is mounted on the slide connecting plate 205 by a screw and a pin, the two motors 210 are mounted on the main body connecting piece 204 by a screw, the motor 210 is selected as DCX16LGBKL24V of MAXON, the two motor connecting shafts 206 are respectively sleeved on the two motors 210 and fixed by jackscrews, the two second springs 213 are respectively sleeved on the two motor connecting shafts 206, the two sliding sleeves 207 are respectively sleeved on the two motor connecting shafts 206, and after compressing the two second springs 213 to a certain position, the two second springs 213 are blocked by jackscrews so as not to fall under the elastic force of the springs. The push rod hinge 203 is installed on the shell 201 by a screw, after the front end of the electric push rod 209 is fixed on the main body connecting piece 204, the other end of the electric push rod 209 is installed on the push rod hinge 203 by a push rod connecting shaft 208, the Lei Mo connector 212 is connected with two motors 210 and the electric push rod 209 in a wiring way, then the electric push rod is installed on the shell 201, and finally the cover plate 202 is installed on the shell 201.
In a further embodiment of the present invention, the adapter assembly 1 and the driving assembly 2 may be conveniently secured together by two key clasps 105.
In a further embodiment of the invention, the working principle is: after the switching component 1 and the driving component 2 are connected together, the driving component 2 is electrified, the electric push rod 209 moves forward, so that the two sliding sleeves 207 are propped against the two interface board transition wheels 104, the two motors 210 are rotated, the grooves of the two sliding sleeves 207 are respectively clamped on the convex columns of the two interface board transition wheels 104, at the moment, the two interface board transition wheels 104 can respectively rotate along with the two sliding sleeves 207, the action of motion transmission is achieved, and then the motion is transmitted to a surgical instrument.
In a further embodiment of the present invention, the control system controls the electric push rod 209 to operate, the electric push rod 209 pushes the main body connecting piece 204 to slide along the micro linear guide rail 211, and then the interface board transition wheel 104 is used for transmission, so that the forward and backward movement of the surgical instrument is realized, the surgical instrument for prostate surgery is a flexible rod, the flexible rod is flexible and deformed, the control system controls the two motors 210 to operate, the rotation of the two interface board transition wheels 104 around the central axis of the surgical instrument is realized respectively, the two motors 210 do not interfere with each other, the surgical instrument for prostate surgery mostly uses flexible wires to pull the flexible rod, the flexible wires are wound on the cylindrical rod, the cylindrical rod rotates to carry out wire winding or wire releasing, further the bending and rotation of the flexible rod are controlled, the cylindrical rod is driven to rotate by the interface board transition wheel 104, the bending and rotation of the flexible rod are realized, the operation difficulty of a doctor is reduced, and the doctor is assisted to complete the surgery.
In a further embodiment of the invention, the flexible surgical instrument provided by the invention can realize the action problems of bending, rotating, moving back and forth and the like of the optical fiber, a quick-way connection interface is used between the driving mechanism and the instrument, and meanwhile, the flexible surgical instrument is provided with a bacteria-isolating cover to carry out sterile isolation on the surgical instrument and the driving device.
In a further embodiment of the invention, fig. 9 and 10 show a prior art surgical instrument, in which the specific driving operation is carried out by two wires m and two wires n, each of which has two ends fixed and wound on a swivel sleeve and a swivel reel, respectively; the bending reel is mounted and fixed on a second reel output shaft, and two ends of the second reel output shaft are respectively fixed in bearings inlaid in the upper plate and the bottom plate, wherein the bearings are not shown; two ends of each wire n are respectively fixed on the upper end of the snake bone and the bending reel and are wound on the bending reel; the second reel output shaft is driven to rotate by the driving component, the second reel output shaft rotates to drive the bending reel to rotate together, so that two wires n fixed and wound on the bending reel move, the other end of one wire n passes through the third guide wheel and the second guide wheel, the other end of the other wire n passes through the first guide wheel and the fourth guide wheel and is fixed at the upper end of a snake bone, the snake bone bends along with the movement of the wire n, and optical fibers in the snake bone bend along with the bending of the snake bone and simultaneously bend; the first reel output shaft is driven to rotate through the driving component, the first reel output shaft rotates to drive the rotary reels to rotate together, so that two wires m fixed on the rotary reels and wound on the rotary reels move, the wire m moves to drive the rotary sleeve fixed on the other end of the wire m and wound on the rotary sleeve to rotate selectively around the shaft of the rotary sleeve, the rotary sleeve rotates to drive the snake bone mounting column to rotate, the snake bone mounting column rotates to drive the snake bone to rotate, and the snake bone during bending can drive optical fibers inside the snake bone to rotate together.
The foregoing is merely illustrative of the preferred embodiments of the present invention and is not intended to limit the embodiments and scope of the present invention, and it should be appreciated by those skilled in the art that equivalent substitutions and obvious variations may be made using the description and illustrations of the present invention, and are intended to be included in the scope of the present invention.
Claims (6)
1. A drive mechanism for a flexible prostate surgical instrument, the surgical instrument and a control system being connected by the drive mechanism, the control system controlling operation of the surgical instrument by the drive mechanism, the drive mechanism comprising: the surgical instrument comprises a switching component (1) and a driving component (2), wherein the driving component (2) is connected with the switching component (1), the driving component (2) is used for being connected with a surgical instrument, and the switching component (1) is used for being connected with a control system;
the drive assembly (2) comprises: the sliding type electric device comprises a shell (201), a push rod hinge (203), a main body connecting piece (204), a sliding block connecting plate (205), a motor connecting shaft (206), a sliding sleeve (207), a push rod connecting shaft (208), an electric push rod (209), a motor (210) and a miniature linear guide rail (211), wherein the miniature linear guide rail (211) is slidably installed in the shell (201), the sliding block connecting plate (205) is installed on a sliding block of the miniature linear guide rail (211), the sliding block connecting plate (205) slides in the shell (201) through the miniature linear guide rail (211), the main body connecting piece (204) is installed on the sliding block connecting plate (205), one end of the electric push rod (209) is connected with the main body connecting piece (204), the push rod hinge (203) is installed on the shell (201), the other end of the electric push rod (209) is connected with the push rod hinge (203) through the push rod connecting shaft (208), two motors (210) are installed on the main body connecting piece (204), each motor connecting shaft (206) is connected with one motor (210), and each sliding sleeve (207) is arranged on the connecting shaft (206).
The adapter assembly (1) comprises: the device comprises a bacteria isolation cover (101), an interface upper plate (102) and an interface lower plate (103), wherein the interface lower plate (103) is arranged on the inner side surface of the bacteria isolation cover (101), and the interface upper plate (102) is arranged on the outer side surface of the bacteria isolation cover (101);
the adapter assembly (1) further comprises: the interface board transition wheels (104) are arranged in the interface lower plate (103), one end of each interface board transition wheel (104) is connected with one sliding sleeve (207), and the other end of each interface board transition wheel (104) penetrates into the interface upper plate (102);
the adapter assembly (1) further comprises: the interface board comprises a key buckle (105), interface board keys (106) and interface board key buckle pin shafts (107), wherein two key buckles (105) are arranged on an interface upper board (102), and each key buckle (105) is connected with one interface board key (106) through one interface board key buckle pin shaft (107);
the adapter assembly (1) further comprises: and a first spring (110), wherein one first spring (110) is arranged between each key buckle (105) and the interface upper plate (102), and the key buckle (105) is reset through the first spring (110).
2. The drive mechanism of a flexible prostate surgical instrument according to claim 1, wherein the adapter assembly (1) further comprises: and one interface board key cover plate (109) is arranged on one side surface, close to the bacteria isolation cover (101), of each key buckle (105).
3. The drive mechanism of a flexible prostate surgical instrument according to claim 1, characterized in that the bacteria shield (101) and the housing (201) are connected by two key clasps (105).
4. The drive mechanism of a flexible prostate surgical instrument according to claim 1, wherein the drive assembly (2) further comprises: lei Mo connector (212), lei Mo connector (212) are installed on casing (201), lei Mo connector (212) are used for being connected with control system, electric putter (209) and two motor (210) all with Lei Mo connector (212) are through the circuit connection.
5. The drive mechanism of a flexible prostate surgical instrument according to claim 1, wherein the drive assembly (2) further comprises: -a cover plate (202), said cover plate (202) being mounted on said housing (201).
6. The drive mechanism of a flexible prostate surgical instrument according to claim 1, wherein the drive assembly (2) further comprises: and a second spring (213) is arranged between each motor connecting shaft (206) and one sliding sleeve (207), and the second spring (213) is used for pushing the sliding sleeve (207) to slide on the motor connecting shaft (206).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211497033.2A CN115737116B (en) | 2022-11-25 | 2022-11-25 | Driving mechanism of flexible prostate surgical instrument |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211497033.2A CN115737116B (en) | 2022-11-25 | 2022-11-25 | Driving mechanism of flexible prostate surgical instrument |
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| CN115737116A CN115737116A (en) | 2023-03-07 |
| CN115737116B true CN115737116B (en) | 2023-08-18 |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112022239A (en) * | 2020-08-28 | 2020-12-04 | 中国科学院沈阳自动化研究所 | Modularized deformation driving device for minimally invasive surgery robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US9931167B2 (en) * | 2012-02-15 | 2018-04-03 | Intuitive Surgical Operations, Inc. | Minimally invasive surgical instrument to provide needle-based therapy |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112022239A (en) * | 2020-08-28 | 2020-12-04 | 中国科学院沈阳自动化研究所 | Modularized deformation driving device for minimally invasive surgery robot |
Non-Patent Citations (1)
| Title |
|---|
| 优质护理服务对子宫内膜息肉宫腔镜手术患者疾病认知及生活质量的影响分析;单丹丹;;中外女性健康研究(03);全文 * |
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